Journal of Sensors

Research Article

Monte Carlo Registration and Its Application with Autonomous Robots

Table 5

, , and for SMCR with Gaussian ()/uniform () sampling and with optimization () step and ICP for 200 tests of partially overlapping scans of the Zeus bust and 45°, 90°, 120°, and 180° rotations.
DataSMCR SMCR-ICP ICP
sr sr sr
6.3/5.00.5 1.7/2.50.72.1    
6.3/6.30.5 1.5/2.70.72.0    
2.7/3.40.6 1.5/2.30.81.6 2.8/6.60.57.1
2.9/3.10.6 1.6/2.40.71.8    
2.7/3.20.6 1.4/2.40.81.7    
2.5/2.90.6 1.4/2.30.81.8    
7.1/7.80.4 1.5/2.70.72.0    
5.7/7.10.5 1.7/3.00.72.3    
3.1/3.80.6 1.7/2.50.71.7 12.6/41.90.37.2
3.2/4.70.5 1.6/2.40.72.0    
3.7/4.20.6 1.5/2.40.71.8    
3.8/4.50.5 1.4/2.30.81.9    
6.0/5.30.5 1.6/2.80.72.2    
5.7/6.90.5 1.6/2.70.71.9    
3.7/3.70.6 1.5/2.70.71.8 12.6/53.50.26.9
2.6/4.80.6 1.3/2.50.81.7    
2.7/2.70.6 1.3/2.30.81.6    
2.7/4.00.6 1.5/2.60.71.8    
5.3/5.60.5 1.6/2.60.72.1    
4.1/4.90.6 1.6/2.30.81.6    
2.9/4.00.6 1.7/2.20.71.8 15.2/71.60.23.7
4.0/5.60.5 1.6/2.50.71.9    
2.7/3.00.6 1.5/2.40.71.6    
1.8/3.40.6 1.4/2.40.71.7    
Unitsmm/deg  mm/deg s mm/deg s